OpenRaiser/Intern-Atlas huggingface dataset:
Factual Error Correction for Abstractive Summarization Models
Venue: arXiv cs.CL 2021
Year: 2021

Neural abstractive summarization systems have achieved promising progress, thanks to the availability of large-scale datasets and models pre-trained with self-supervised methods. However, ensuring the factual consistency of the generated summaries for abstractive summarization systems is a challenge. We propose a post-editing corrector module to address this issue by identifying and correcting factual errors in generated summaries. The neural corrector model is pre-trained on artificial examples that are created by applying a series of heuristic transformations on reference summaries. These transformations are inspired by an error analysis of state-of-the-art summarization model outputs. Experimental results show that our model is able to correct factual errors in summaries generated by other neural summarization models and outperforms previous models on factual consistency evaluation on the CNN/DailyMail dataset. We also find that transferring from artificial error correction to downstream settings is still very challenging.
Finding Physical Adversarial Examples for Autonomous Driving with Fast and Differentiable Image Compositing
Venue: arXiv cs.CV 2021
Year: 2021

There is considerable evidence that deep neural networks are vulnerable to adversarial perturbations applied directly to their digital inputs. However, it remains an open question whether this translates to vulnerabilities in real systems. For example, an attack on self-driving cars would in practice entail modifying the driving environment, which then impacts the video inputs to the car's controller, thereby indirectly leading to incorrect driving decisions. Such attacks require accounting for system dynamics and tracking viewpoint changes. We propose a scalable approach for finding adversarial modifications of a simulated autonomous driving environment using a differentiable approximation for the mapping from environmental modifications (rectangles on the road) to the corresponding video inputs to the controller neural network. Given the parameters of the rectangles, our proposed differentiable mapping composites them onto pre-recorded video streams of the original environment, accounting for geometric and color variations. Moreover, we propose a multiple trajectory sampling approach that enables our attacks to be robust to a car's self-correcting behavior. When combined with a neural network-based controller, our approach allows the design of adversarial modifications through end-to-end gradient-based optimization. Using the Carla autonomous driving simulator, we show that our approach is significantly more scalable and far more effective at identifying autonomous vehicle vulnerabilities in simulation experiments than a state-of-the-art approach based on Bayesian Optimization.
Implementing Agent-Based Systems via Computability Logic CL2
Venue: arXiv cs.AI 2021
Year: 2021

Computability logic(CoL) is a powerful computational model. In this paper, we show that CoL naturally supports multi-agent programming models where resources (coffee for example) are involved. To be specific, we discuss an implementation of the Starbucks based on CoL (CL2 to be exact).
MROS: Runtime Adaptation For Robot Control Architectures
Venue: arXiv cs.RO 2021
Year: 2021

Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with contingencies arising from dynamic environments-otherwise, these affect the reliability and quality of the mission execution. Existing proposals on how to build self-adaptive systems in robotics usually require a major re-design of the control architecture and rely on complex tools unfamiliar to the robotics community. Moreover, they are hard to reuse across applications. This paper presents MROS: a model-based framework for run-time adaptation of robot control architectures based on ROS. MROS uses a combination of domain-specific languages to model architectural variants and captures mission quality concerns, and an ontology-based implementation of the MAPE-K and meta-control visions for run-time adaptation. The experiment results obtained applying MROS in two realistic ROS-based robotic demonstrators show the benefits of our approach in terms of the quality of the mission execution, and MROS' extensibility and re-usability across robotic applications.
Continual Unsupervised Domain Adaptation for Semantic Segmentation
Venue: arXiv cs.CV 2021
Year: 2021

Unsupervised Domain Adaptation (UDA) for semantic segmentation has been favorably applied to real-world scenarios in which pixel-level labels are hard to be obtained. In most of the existing UDA methods, all target data are assumed to be introduced simultaneously. Yet, the data are usually presented sequentially in the real world. Moreover, Continual UDA, which deals with more practical scenarios with multiple target domains in the continual learning setting, has not been actively explored. In this light, we propose Continual UDA for semantic segmentation based on a newly designed Expanding Target-specific Memory (ETM) framework. Our novel ETM framework contains Target-specific Memory (TM) for each target domain to alleviate catastrophic forgetting. Furthermore, a proposed Double Hinge Adversarial (DHA) loss leads the network to produce better UDA performance overall. Our design of the TM and training objectives let the semantic segmentation network adapt to the current target domain while preserving the knowledge learned on previous target domains. The model with the proposed framework outperforms other state-of-the-art models in continual learning settings on standard benchmarks such as GTA5, SYNTHIA, CityScapes, IDD, and Cross-City datasets. The source code is available at https://github.com/joonh-kim/ETM.
Diffusion in large networks
Venue: arXiv cs.SI 2021
Year: 2021

We investigate the phenomenon of diffusion in a countably infinite society of individuals interacting with their neighbors in a network. At a given time, each individual is either active or inactive. The diffusion is driven by two characteristics: the network structure and the diffusion mechanism represented by an aggregation function. We distinguish between two diffusion mechanisms (probabilistic, deterministic) and focus on two types of aggregation functions (strict, Boolean). Under strict aggregation functions, polarization of the society cannot happen, and its state evolves towards a mixture of infinitely many active and infinitely many inactive agents, or towards a homogeneous society. Under Boolean aggregation functions, the diffusion process becomes deterministic and the contagion model of Morris (2000) becomes a particular case of our framework. Polarization can then happen. Our dynamics also allows for cycles in both cases. The network structure is not relevant for these questions, but is important for establishing irreducibility, at the price of a richness assumption: the network should contain infinitely many complex stars and have enough space for storing local configurations. Our model can be given a game-theoretic interpretation via a local coordination game, where each player would apply a best-response strategy in a random neighborhood.
Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment
Venue: arXiv cs.RO 2021
Year: 2021

The core problem of visual multi-robot simultaneous localization and mapping (MR-SLAM) is how to efficiently and accurately perform multi-robot global localization (MR-GL). The difficulties are two-fold. The first is the difficulty of global localization for significant viewpoint difference. Appearance-based localization methods tend to fail under large viewpoint changes. Recently, semantic graphs have been utilized to overcome the viewpoint variation problem. However, the methods are highly time-consuming, especially in large-scale environments. This leads to the second difficulty, which is how to perform real-time global localization. In this paper, we propose a semantic histogram-based graph matching method that is robust to viewpoint variation and can achieve real-time global localization. Based on that, we develop a system that can accurately and efficiently perform MR-GL for both homogeneous and heterogeneous robots. The experimental results show that our approach is about 30 times faster than Random Walk based semantic descriptors. Moreover, it achieves an accuracy of 95% for global localization, while the accuracy of the state-of-the-art method is 85%.
Symmetric Private Polynomial Computation From Lagrange Encoding
Venue: arXiv cs.IT 2021
Year: 2021

The problem of $X$-secure $T$-colluding symmetric Private Polynomial Computation (PPC) from coded storage system with $B$ Byzantine and $U$ unresponsive servers is studied in this paper. Specifically, a dataset consisting of $M$ files is stored across $N$ distributed servers according to $(N,K+X)$ Maximum Distance Separable (MDS) codes such that any group of up to $X$ colluding servers can not learn anything about the data files. A user wishes to privately evaluate one out of a set of candidate polynomial functions over the $M$ files from the system, while guaranteeing that any $T$ colluding servers can not learn anything about the identity of the desired function and the user can not learn anything about the $M$ data files more than the desired polynomial function evaluations, in the presence of $B$ Byzantine servers that can send arbitrary responses maliciously to confuse the user and $U$ unresponsive servers that will not respond any information at all. A novel symmetric PPC scheme using Lagrange encoding is proposed. This scheme achieves a PPC rate of $1-\frac{G(K+X-1)+T+2B}{N-U}$ with secrecy rate $\frac{G(K+X-1)+T}{N-(G(K+X-1)+T+2B+U)}$ and finite field size $N+\max\{K,N-(G(K+X-1)+T+2B+U)\}$, where $G$ is the maximum degree over all the candidate polynomial functions. Moreover, to further measure the efficiency of PPC schemes, upload cost, query complexity, server computation complexity and decoding complexity required to implement the scheme are analyzed. Remarkably, the PPC setup studied in this paper generalizes all the previous MDS coded PPC setups and the degraded schemes strictly outperform the best known schemes in terms of (asymptotical) PPC rate, which is the main concern of the PPC schemes.
Fast accuracy estimation of deep learning based multi-class musical source separation
Venue: arXiv cs.SD 2021
Year: 2021

Music source separation represents the task of extracting all the instruments from a given song. Recent breakthroughs on this challenge have gravitated around a single dataset, MUSDB, only limited to four instrument classes. Larger datasets and more instruments are costly and time-consuming in collecting data and training deep neural networks (DNNs). In this work, we propose a fast method to evaluate the separability of instruments in any dataset without training and tuning a DNN. This separability measure helps to select appropriate samples for the efficient training of neural networks. Based on the oracle principle with an ideal ratio mask, our approach is an excellent proxy to estimate the separation performances of state-of-the-art deep learning approaches such as TasNet or Open-Unmix. Our results contribute to revealing two essential points for audio source separation: 1) the ideal ratio mask, although light and straightforward, provides an accurate measure of the audio separability performance of recent neural nets, and 2) new end-to-end learning methods such as Tasnet, that operate directly on waveforms, are, in fact, internally building a Time-Frequency (TF) representation, so that they encounter the same limitations as the TF based-methods when separating audio pattern overlapping in the TF plane.
Information-Theoretic Bounds on Transfer Generalization Gap Based on Jensen-Shannon Divergence
Venue: arXiv cs.LG 2021
Year: 2021

In transfer learning, training and testing data sets are drawn from different data distributions. The transfer generalization gap is the difference between the population loss on the target data distribution and the training loss. The training data set generally includes data drawn from both source and target distributions. This work presents novel information-theoretic upper bounds on the average transfer generalization gap that capture $(i)$ the domain shift between the target data distribution $P'_Z$ and the source distribution $P_Z$ through a two-parameter family of generalized $(α_1,α_2)$-Jensen-Shannon (JS) divergences; and $(ii)$ the sensitivity of the transfer learner output $W$ to each individual sample of the data set $Z_i$ via the mutual information $I(W;Z_i)$. For $α_1 \in (0,1)$, the $(α_1,α_2)$-JS divergence can be bounded even when the support of $P_Z$ is not included in that of $P'_Z$. This contrasts the Kullback-Leibler (KL) divergence $D_{KL}(P_Z||P'_Z)$-based bounds of Wu et al. [1], which are vacuous under this assumption. Moreover, the obtained bounds hold for unbounded loss functions with bounded cumulant generating functions, unlike the $ϕ$-divergence based bound of Wu et al. [1]. We also obtain new upper bounds on the average transfer excess risk in terms of the $(α_1,α_2)$-JS divergence for empirical weighted risk minimization (EWRM), which minimizes the weighted average training losses over source and target data sets. Finally, we provide a numerical example to illustrate the merits of the introduced bounds.
What About Inputing Policy in Value Function: Policy Representation and Policy-extended Value Function Approximator
Venue: arXiv cs.LG 2021
Year: 2021

We study Policy-extended Value Function Approximator (PeVFA) in Reinforcement Learning (RL), which extends conventional value function approximator (VFA) to take as input not only the state (and action) but also an explicit policy representation. Such an extension enables PeVFA to preserve values of multiple policies at the same time and brings an appealing characteristic, i.e., \emph{value generalization among policies}. We formally analyze the value generalization under Generalized Policy Iteration (GPI). From theoretical and empirical lens, we show that generalized value estimates offered by PeVFA may have lower initial approximation error to true values of successive policies, which is expected to improve consecutive value approximation during GPI. Based on above clues, we introduce a new form of GPI with PeVFA which leverages the value generalization along policy improvement path. Moreover, we propose a representation learning framework for RL policy, providing several approaches to learn effective policy embeddings from policy network parameters or state-action pairs. In our experiments, we evaluate the efficacy of value generalization offered by PeVFA and policy representation learning in several OpenAI Gym continuous control tasks. For a representative instance of algorithm implementation, Proximal Policy Optimization (PPO) re-implemented under the paradigm of GPI with PeVFA achieves about 40\% performance improvement on its vanilla counterpart in most environments.
Importance Reweighting for Biquality Learning
Venue: arXiv cs.LG 2021
Year: 2021

The field of Weakly Supervised Learning (WSL) has recently seen a surge of popularity, with numerous papers addressing different types of "supervision deficiencies", namely: poor quality, non adaptability, and insufficient quantity of labels. Regarding quality, label noise can be of different types, including completely-at-random, at-random or even not-at-random. All these kinds of label noise are addressed separately in the literature, leading to highly specialized approaches. This paper proposes an original, encompassing, view of Weakly Supervised Learning, which results in the design of generic approaches capable of dealing with any kind of label noise. For this purpose, an alternative setting called "Biquality data" is used. It assumes that a small trusted dataset of correctly labeled examples is available, in addition to an untrusted dataset of noisy examples. In this paper, we propose a new reweigthing scheme capable of identifying noncorrupted examples in the untrusted dataset. This allows one to learn classifiers using both datasets. Extensive experiments that simulate several types of label noise and that vary the quality and quantity of untrusted examples, demonstrate that the proposed approach outperforms baselines and state-of-the-art approaches.
Technical Question Answering across Tasks and Domains
Venue: arXiv cs.CL 2021
Year: 2021

Building automatic technical support system is an important yet challenge task. Conceptually, to answer a user question on a technical forum, a human expert has to first retrieve relevant documents, and then read them carefully to identify the answer snippet. Despite huge success the researchers have achieved in coping with general domain question answering (QA), much less attentions have been paid for investigating technical QA. Specifically, existing methods suffer from several unique challenges (i) the question and answer rarely overlaps substantially and (ii) very limited data size. In this paper, we propose a novel framework of deep transfer learning to effectively address technical QA across tasks and domains. To this end, we present an adjustable joint learning approach for document retrieval and reading comprehension tasks. Our experiments on the TechQA demonstrates superior performance compared with state-of-the-art methods.
Robot Design With Neural Networks, MILP Solvers and Active Learning
Venue: arXiv cs.AI 2021
Year: 2021

Central to the design of many robot systems and their controllers is solving a constrained blackbox optimization problem. This paper presents CNMA, a new method of solving this problem that is conservative in the number of potentially expensive blackbox function evaluations; allows specifying complex, even recursive constraints directly rather than as hard-to-design penalty or barrier functions; and is resilient to the non-termination of function evaluations. CNMA leverages the ability of neural networks to approximate any continuous function, their transformation into equivalent mixed integer linear programs (MILPs) and their optimization subject to constraints with industrial strength MILP solvers. A new learning-from-failure step guides the learning to be relevant to solving the constrained optimization problem. Thus, the amount of learning is orders of magnitude smaller than that needed to learn functions over their entire domains. CNMA is illustrated with the design of several robotic systems: wave-energy propelled boat, lunar lander, hexapod, cartpole, acrobot and parallel parking. These range from 6 real-valued dimensions to 36. We show that CNMA surpasses the Nelder-Mead, Gaussian and Random Search optimization methods against the metric of number of function evaluations.
Training Generative Adversarial Networks via stochastic Nash games
Venue: arXiv cs.LG 2021
Year: 2021

Generative adversarial networks (GANs) are a class of generative models with two antagonistic neural networks: a generator and a discriminator. These two neural networks compete against each other through an adversarial process that can be modeled as a stochastic Nash equilibrium problem. Since the associated training process is challenging, it is fundamental to design reliable algorithms to compute an equilibrium. In this paper, we propose a stochastic relaxed forward-backward (SRFB) algorithm for GANs and we show convergence to an exact solution when an increasing number of data is available. We also show convergence of an averaged variant of the SRFB algorithm to a neighborhood of the solution when only few samples are available. In both cases, convergence is guaranteed when the pseudogradient mapping of the game is monotone. This assumption is among the weakest known in the literature. Moreover, we apply our algorithm to the image generation problem.
Feature Inference Attack on Model Predictions in Vertical Federated Learning
Venue: arXiv cs.LG 2021
Year: 2021

Federated learning (FL) is an emerging paradigm for facilitating multiple organizations' data collaboration without revealing their private data to each other. Recently, vertical FL, where the participating organizations hold the same set of samples but with disjoint features and only one organization owns the labels, has received increased attention. This paper presents several feature inference attack methods to investigate the potential privacy leakages in the model prediction stage of vertical FL. The attack methods consider the most stringent setting that the adversary controls only the trained vertical FL model and the model predictions, relying on no background information. We first propose two specific attacks on the logistic regression (LR) and decision tree (DT) models, according to individual prediction output. We further design a general attack method based on multiple prediction outputs accumulated by the adversary to handle complex models, such as neural networks (NN) and random forest (RF) models. Experimental evaluations demonstrate the effectiveness of the proposed attacks and highlight the need for designing private mechanisms to protect the prediction outputs in vertical FL.
AutoBSS: An Efficient Algorithm for Block Stacking Style Search
Venue: arXiv cs.CV 2021
Year: 2021

Neural network architecture design mostly focuses on the new convolutional operator or special topological structure of network block, little attention is drawn to the configuration of stacking each block, called Block Stacking Style (BSS). Recent studies show that BSS may also have an unneglectable impact on networks, thus we design an efficient algorithm to search it automatically. The proposed method, AutoBSS, is a novel AutoML algorithm based on Bayesian optimization by iteratively refining and clustering Block Stacking Style Code (BSSC), which can find optimal BSS in a few trials without biased evaluation. On ImageNet classification task, ResNet50/MobileNetV2/EfficientNet-B0 with our searched BSS achieve 79.29%/74.5%/77.79%, which outperform the original baselines by a large margin. More importantly, experimental results on model compression, object detection and instance segmentation show the strong generalizability of the proposed AutoBSS, and further verify the unneglectable impact of BSS on neural networks.
Edge Bias in Federated Learning and its Solution by Buffered Knowledge Distillation
Venue: arXiv cs.LG 2021
Year: 2021

Federated learning (FL), which utilizes communication between the server (core) and local devices (edges) to indirectly learn from more data, is an emerging field in deep learning research. Recently, Knowledge Distillation-based FL methods with notable performance and high applicability have been suggested. In this paper, we choose knowledge distillation-based FL method as our baseline and tackle a challenging problem that ensues from using these methods. Especially, we focus on the problem incurred in the server model that tries to mimic different datasets, each of which is unique to an individual edge device. We dub the problem 'edge bias', which occurs when multiple teacher models trained on different datasets are used individually to distill knowledge. We introduce this nuisance that occurs in certain scenarios of FL, and to alleviate it, we propose a simple yet effective distillation scheme named 'buffered distillation'. In addition, we also experimentally show that this scheme is effective in mitigating the straggler problem caused by delayed edges.